CN103930797A - Time-corrected sensor system - Google Patents
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- CN103930797A CN103930797A CN201280055346.0A CN201280055346A CN103930797A CN 103930797 A CN103930797 A CN 103930797A CN 201280055346 A CN201280055346 A CN 201280055346A CN 103930797 A CN103930797 A CN 103930797A
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- 230000002123 temporal effect Effects 0.000 claims abstract description 67
- 238000005259 measurement Methods 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 33
- 238000001914 filtration Methods 0.000 claims description 112
- 238000000034 method Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000003466 anti-cipated effect Effects 0.000 claims description 2
- 230000004927 fusion Effects 0.000 abstract description 5
- 238000004422 calculation algorithm Methods 0.000 description 33
- 230000001133 acceleration Effects 0.000 description 9
- 238000012790 confirmation Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 239000002245 particle Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/213—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods
- G06F18/2134—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods based on separation criteria, e.g. independent component analysis
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
- G08C19/16—Electric signal transmission systems in which transmission is by pulses
- G08C19/24—Electric signal transmission systems in which transmission is by pulses using time shift of pulses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/06—Sensor zero-point adjustment; Offset compensation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/02—Preprocessing
Abstract
The invention relates to a sensor system comprising several sensor elements (1, 3, 4) and a signal processing device. Said signal processing device is designed so that it evaluates at least part of the sensor signals of the sensor elements together and that temporal information is respectively allocated to the measurement data of physical variables, said information containing, directly or indirectly, information relating to the time of each measurement. Said signal processing device takes into account said temporal information at least during the generation of a fusion data set in a fusion filter (5).
Description
Technical field
The present invention relates to a kind of according to the sensing system of claim 1 preamble and in motor vehicle, the especially application in automobile.
Background technology
Open source literature DE102010063984A1 has described a kind of sensing system, comprises a plurality of sensor elements and signal processing apparatus, and wherein, signal processing apparatus designs like this, makes the output signal of sensor element by common analyzing and processing.
Summary of the invention
The object of the invention is to, propose a kind of sensing system, described sensing system allows relatively high precision aspect the output signal of sensor element and/or the analyzing and processing of data and/or processing.
Described object realizes by the sensing system according to claim 1.
Preferred sensor element is constructed like this, makes described sensor element detect at least in part different elementary measurement parameters and use at least in part different measuring principles.
Sensing system meet destination be arranged on vehicle, especially motor vehicle, particularly preferably in automobile.
Preferably fused filtering device is constructed like this, before and after making, one after the other carry out the functional steps that disposes respectively temporal information, wherein, in functional steps, process respectively about the data/value of physical parameter and determining fused data group is provided constantly, each physical parameter that described fused data group is processed and/or calculated about fused filtering device provides respectively the relative value of physical parameter and about the information of data quality.
Fused filtering device preferably at least has absolute value and/or the intrinsic value of this physical parameter in inside for one of physical parameter, wherein, for one or more physical parameters, what a definite time period the absolute value of the functional steps in past and/or intrinsic value are stored and prepare.
What meet object is, according to the temporal information of the input value of the physical parameter of fused filtering device, in fused filtering device, described input value is calculated, to be described input value compare and/or calculate with absolute value and/or the intrinsic value of such physical parameter its mode: the temporal information of this physical parameter, be that the temporal information of absolute value and/or intrinsic value is substantially consistent with the temporal information of input value.
Preferred such physical parameter---input value compares and/or calculates with this physical parameter---absolute value and/or intrinsic value by two about temporal information nearest---especially this is absolute value and/or the intrinsic value that has absolute value and/or the intrinsic value of the temporal information slightly newer than the temporal information of the input value of corresponding configuration and have the temporal information slightly older than the temporal information of the input value of the described corresponding configuration---interpolation of storing and ready absolute value and/or intrinsic value in time.
What meet object is, the input value of fused filtering device disposes respectively temporal information, thus, these input values of physical parameter have respectively time rank, wherein, in waiting scope of pending functional steps, the input value of the physical parameter of fused filtering device is calculated with the intrinsic value of the fused filtering device of such physical parameter: described physical parameter in time rank and/or about temporal information substantially corresponding to corresponding temporal information and/or the time rank of corresponding input parameter.
Signal processing apparatus is preferably constructed like this, the time rank that makes the pending functional steps such as current is determined by having the temporal information of input value of the physical parameter of up-to-date temporal information, wherein, the input value of the older physical parameter of temporal information is extrapolated to the time rank of up-to-date temporal information and then calculates with the intrinsic value of fused filtering device.
Preferred signals treating apparatus is constructed like this,---within this time period, data/information/value is stored and is ready to---determined by the maximum-delay of the input data of fused filtering device to make definite time period, described maximum-delay is determined with respect to the maximum difference of the temporal information of current etc. the pending functional steps of fused filtering device by the temporal information of the measurement of physical parameter, wherein, maximum-delay is especially determined to such an extent that be more than or equal to the delay of largest anticipated of the measurement of satellite navigation system, and described satellite navigation system is a part for sensing system.
Meet object, signal processing apparatus is constructed like this, makes definite time period---within this time period, data/information/value is stored and is ready to---by determining for some or each different definite time period of physical parameter feature.
Sensing system preferably includes satellite navigation system, and described satellite navigation system provides synchronizing pulse and/or synchronous method, and the temporal information of fused filtering device is synchronizeed with the temporal information of satellite navigation system by described synchronizing pulse and/or synchronous method.
What meet object is, satellite navigation system provides respectively at affiliated satellite and the range data between vehicle or parameter related to this and respectively at affiliated satellite and the velocity information data between vehicle or parameter related to this, described range data or parameter related to this and velocity information data or parameter related to this are transferred to fused filtering device as input value, wherein, these input values of the physical parameter of satellite navigation system and the intrinsic value of fused filtering device through time adjustment calculate, its mode is, if the temporal information of the input value of described physical parameter is older than the temporal information of current etc. the pending functional steps of fused filtering device, according to the extrapolate intrinsic value of described physical parameter of the temporal information of input value, wherein, in order to extrapolate, especially use the gradient of latter two value of such physical parameter, if these two values are based on two measurements in succession each other, between described measurement, there is not the measurement of same measurement parameter.
Preferably fused filtering device is constructed like this, make described fused filtering device consider at least one model hypothesis, described model hypothesis starting point is, between one or more functional steps of fused filtering device, offset and/or changing value and/or corrected value and/or error amount maybe can be ignored and change within definite time period only restrictedly, especially store absolute value and/or the intrinsic value of physical parameter for described definite time period.
Preferably the present invention is based on such design, for in fused filtering device to different sensors in other words sensor element in other words selectively additionally the measurement data in the redundancy of not measuring in the same time of satellite navigation system mutually calculate and thus can the scope in sensor fusion in utilize the advantage of redundancy, advantageously, belonging to of fused filtering device of identical measurement measurement parameter and/or intrinsic value constantly calculated, to make to form out-of-date measurement data and the current measurement data of the input value of fused filtering device, be current fused filtering device etc. error between the value of the measurement data that exists in pending functional steps keep as far as possible little.
Fused filtering device is preferably constructed like this, make fused filtering device physical parameter fiducial value in other words intrinsic value in the regular hour, especially should cover in other words on determining time of whole retardation time of whole input data and be temporarily stored, then for the data fusion of the intrinsic value of the coupling in past for being relatively selected and calculating with input value.Specifically, this for example can limit by scanning/sampling rate/measurement constantly, and the certain distance interval between the intrinsic value of wave filter and measurement data particularly preferably keeps existing.The smart interpolation in value between the twice sweep of preferred filter such degree ground, makes to have matchingly effective measured value with the moment of measurement data as an alternative solution.If now from the measurement data of the intrinsic value merging and identical respectively physical parameter in other words input value in the temporal information configuring with substantially the same correspondence in other words in the same time mutually, exist, described intrinsic value and measurement data in other words input value can mutually calculate simply/merge.Meet object, from the data that merge, compare with the data of measurement data, so determine thus corrected value, described corrected value upgrades the value of fused filtering device.
Preferred signals treating apparatus is constructed like this, make whole input values of fused filtering device together with the temporal information of correspondence setting, be stored definite time period respectively, the absolute value of the functional steps in the past of fused filtering device and/or intrinsic value are stored definite time period together with the temporal information of correspondence configuration respectively for one or more physical parameters.Meet object, the time rank of the pending functional steps such as current is determined by having the temporal information of input value of the physical parameter of up-to-date temporal information.What meet object is, according to the temporal information of the input value of the physical parameter of fused filtering device, in fused filtering device, these input values are calculated, to be these input values compare and/or calculate with absolute value and/or the intrinsic value of such physical parameter its mode: the temporal information of described physical parameter, be that the temporal information of absolute value and/or intrinsic value is substantially consistent with the temporal information of input value.The result of this calculating has time rank and relates in other words configuration and give input parameter and absolute value moment of the temporal information of intrinsic value in other words.From this result, one or more functional steps are carried out by fused filtering device, consider forward in time the input data of a new functional steps respectively and absolute value intrinsic value in other words, until exist, there is the result that time rank disposes the functional steps of temporal information in other words, described time rank is corresponding to the time rank of the pending functional steps such as current when this computation process starts, and it is determined by having the temporal information of input value of the physical parameter of up-to-date temporal information.
Preferably for time rank, be interpreted as absolute or relative temporal information or be preferably interpreted as an alternative solution rank, especially both combinations as an alternative solution in time series.
Fused filtering device is preferably configured as Kalman filter, is preferably configured as an alternative solution particle filter, or is configured to as an alternative solution information filter or is configured to as an alternative solution " without mark " Kalman filter.
Preferably fused filtering device is constructed like this, makes fused data group comprise relative value as the value of described at least one physical parameter, especially offset and/or changing value and/or corrected value and/or error amount.
Meet object, the relative value of the corresponding physical parameter of fused data group is corrected value, gives described corrected value configuration variance information difference disparity range, especially variance in other words in other words respectively, as the information about its data quality.
Preferably fused filtering device is constructed like this, make fused data group at least one physical parameter value directly or indirectly the sensor signal based on a plurality of sensor elements calculate, wherein, these sensor elements detect described at least one physical parameter in direct or indirect mode redundantly.The detection of described redundancy particularly preferably realizes directly parallel in other words redundance and/or realizes as analyzing redundance---and come from and calculate parameter/value and/or the model hypothesis of deriving or derive.
Fused filtering device is preferably configured as Kalman filter, and described Kalman filter is at least carried out iteratively prediction steps and aligning step and fused data group is provided at least in part.Especially fused filtering device is configured to error state-space sequential extended Kalman filter device, be configured to such Kalman filter, described Kalman filter particularly preferably comprises linearization and in described Kalman filter, calculates and/or evaluated error status information and/or described Kalman filter is worked and use/consider operational input data in sequential corresponding function step at this sequentially.
Meet object, sensing system has inertial sensor device, and described inertial sensor device comprises at least one acceleration sensor element and at least one rotation rate sensor element; Sensing system comprises strapdown algorithm unit, in described strapdown algorithm unit, carry out strapdown algorithm, the sensor signal of at least processing inertial sensor device with described strapdown algorithm is to form especially calibrated navigation data and/or vehicle dynamics data---take be provided with sensing system vehicle as reference.
Particularly preferably strapdown algorithm unit directly or indirectly offers fused filtering device by the navigation data of its calculating and/or vehicle dynamics data.
Sensing system preferably has inertial sensor device, described inertial sensor device is constructed like this, described inertial sensor device at least can be detected along the second axis of determining, especially the acceleration of the axis of pitch of vehicle and at least can detecting around the 3rd axis of determining, especially the rotation rate of the vertical axis of vehicle, wherein, the first and the 3rd axis of determining forms a generation system, and be vertically orientated especially toward each other at this, wherein, sensing system also comprises at least one wheel speed sensor element, especially at least four wheel speed sensor elements or just, the vehicle wheel rotational speed of a wheel of described wheel speed sensor element testing vehicle or detect respectively the vehicle wheel rotational speed of one of wheel and especially additionally detect the rotation direction of the affiliated wheel of the vehicle be provided with sensing system, wherein, sensing system additionally comprises at least one steering angle sensor element, the steering angle of described steering angle sensor element testing vehicle, wherein, sensing system also comprises satellite navigation system, described satellite navigation system is constructed especially like this, described satellite navigation system is detected and/or provide respectively at affiliated satellite and the range data between vehicle or parameter related to this and respectively at affiliated satellite and the velocity information data between vehicle or parameter related to this.
Particularly preferably inertial sensor device is constructed like this, make described inertial sensor device at least can detect along the acceleration of first, second, and third axis of determining and at least can detect around described definite first axle, around described the second definite axis with around the rotation rate of described the 3rd definite axis, wherein, described first, second, and third definite axis forms a generation system, and is vertically orientated toward each other especially respectively at this.
Its sensor signal is offered to strapdown algorithm unit to preferred inertial sensor device and strapdown algorithm unit is constructed like this, make described strapdown algorithm unit at least by the sensor signal of inertial sensor device and especially at least one error state information and/or variance and/or configuration to sensor signal or physical parameter and the information about data quality that provided by fused filtering device as measure parameter and/or navigation data and/or vehicle dynamics data calculate and/or provide at least along determine first, second and the acceleration of the correction of the 3rd axis, at least around the rotation rate of the correction of described three definite axis, at least about the speed of described three definite axis and position parameter at least.
What meet object is, sensing system is constructed like this, make at least one sensor signal of difference and/or physical parameter as inertial sensor device and/or strapdown algorithm unit, the parameter of the direct or derivation of wheel speed sensor element and steering angle sensor element---especially indirectly by auto model unit---and satellite navigation system, at this especially respectively at affiliated satellite and the range data between vehicle or parameter related to this and offer fused filtering device and paid attention in it calculates by fused filtering device in affiliated satellite and the velocity information data between vehicle or parameter related to this respectively.
Particularly preferably construct like this auto model unit, make by the sensor signal of wheel speed sensor element and steering angle sensor element calculate speed along definite first axle, along the speed of the second axis of determining and around the rotation rate of the 3rd axis of determining.
Completely particularly preferably construct like this auto model unit, described auto model unit to be used in order calculating especially and as the known least square method of least squares error (Least-Squared-Error) method, to separate overdetermined equation group.
Meet object, construct like this auto model unit, makes described auto model unit at least consider following physical parameter and/or parameter in it calculates
A) steering angle of each wheel, especially detects by the steering angle sensor for two front-wheels, wherein, and model hypothesis: the steering angle of trailing wheel equals zero, or additionally detect the steering angle of trailing wheel,
B) vehicle wheel rotational speed of each wheel or parameter related to this,
C) rotation direction of each wheel,
D) kinetics radius of each wheel and/or wheel diameter, and
E) wheelbase between the gauge of each bridge of vehicle and/or the bridge of vehicle.
Signal processing apparatus is preferably constructed like this, makes fused filtering device calculate and/or provide and/or export fused data group in definite moment.
Fused filtering device is structure preferably like this, make the scan rate of described fused filtering device and sensor element, especially wheel speed sensor element and steering angle sensor element and/or sensor signal output time independently and with the signal in time of satellite navigation system or measurement parameter/or information output time independently calculate and/or provide and/or export fused data group.
What meet object is, signal processing apparatus is constructed like this, make in the process of the functional steps of fused filtering device all the time especially asynchronously by sensor element, especially wheel speed sensor element and steering angle sensor element up-to-date for the operational information of fused filtering device and/or signal and/or data directly or indirectly, especially by means of auto model unit and satellite navigation system, directly or indirectly sequentially upgrade and/or receive fused filtering device in and in the calculating of the affiliated functional steps of fused filtering device, pay attention to.
Preferred sensor system has parking recognition unit, described parking recognition unit is constructed like this, make described parking recognition unit can identify the parking of vehicle and in the situation that recognizing vehicle parking, at least to fused filtering device, provide the information of self-stopping n model, in this especially such information: there is value zero and at least one change in location parameter also has value zero around the rotation rate of whole three axis, especially there is value along the speed of whole three axis zero.
Preferred signals treating apparatus calculates and/or uses its value to relate to first group of data of the physical parameter of vehicle axis system, wherein, signal processing apparatus additionally calculates and/or uses its value to relate to second group of data of the physical parameter of world coordinate system, wherein, described world coordinate system is especially at least applicable to be described in orientation and/or the kinetic parameters of vehicle on the earth, wherein, sensing system has orientation model unit, with described orientation model unit, calculate the angle of orientation between vehicle axis system and world coordinate system, wherein, the angle of orientation between vehicle axis system and world coordinate system is at least calculated based on following parameter in orientation model unit: about the speed of vehicle axis system, about the speed of world coordinate system and especially steering angle.
Meet object, following concept is used synonymously, and in technical transform, meaning is identical: offset, changing value, corrected value and error amount.
For error state information, be preferably interpreted as control information and/or checking information and/or different information and/or variance information and/or precision information.
For concept variance, be preferably interpreted as conceptual difference, wherein, especially in the situation of general fused filtering device, described fused filtering device respectively by difference in other words difference value configure the arbitrary value to the physical parameter of fused filtering device, in the situation of the Kalman filter as fused filtering device, variance configures respectively to/configuration to the arbitrary value of physical parameter of fused filtering device.
What meet object is, first, second, and third axis of determining about the coordinate system of vehicle of wherein realizing sensing system as the definition of getting off: definite first axle is corresponding to the longitudinal axis of vehicle, the second axis of determining is corresponding to the axis of pitch of vehicle, and the 3rd definite axis is corresponding to the vertical axis of vehicle.These three axis especially form cartesian coordinate system.
Preferably fused filtering device is constructed like this, the physical parameter that makes the data of described fused filtering device, the especially fused data group in other words data of physical parameter has been divided into or has been divided into the piece of constant size all the time, with random order, in fused filtering device, process iteratively for described, fused filtering device is carried out sequential renewal about its input data.At this, fused filtering device is particularly preferably constructed like this, filter equation is mated, and thus, in the arbitrary steps of fused filtering device, the result of calculation of sequential renewal is renewal for whole measurement parameters of the input data of fused filtering device, is Data Update.
Sensing system meet destination be arranged on vehicle, especially motor vehicle, particularly preferably in automobile.
Sensing system is preferably constructed like this, makes data, especially position data to satellite navigation system stab information setup time, and described timestamp information is described the measurement moment of described data substantially.The timestamp information of the corresponding data of satellite navigation system offers together fused filtering device with described corresponding data and when internal calculation, pays attention in fused filtering device.
In addition, also configure such timestamp information preferably to data other or all sensors element and/or inertial sensor device, described timestamp information also offers fused filtering device with corresponding data and when internal calculation, pays attention in fused filtering device.Meet object, about the data of satellite navigation system, corresponding timestamp information is produced by satellite navigation system itself.
Preferably in the additional timestamp information of described other sensor element and/or inertial sensor device, corresponding timestamp information is produced by signal processing apparatus, especially according to the time measurement of satellite navigation system, produces.
Preferably the functional steps of fused filtering device comprises at least one prediction steps and aligning step.That fused filtering device is configured to iteration at this and one after the other implement iteratively, each other functional steps.Especially in each functional steps of fused filtering device, reading data is worth signal in other words in other words, considers input data, also exports data and is worth in other words signal in other words, as exporting/send data, provides.
Fused filtering device is preferably configured as and makes fused filtering device carry out a plurality of step of updating in a functional steps, and described step of updating relates to the loading of signal in other words of input data and uses in other words renewal in other words.Fused filtering device examine especially sequentially whole input parameters in other words input signal and respectively check whether there is new information/data.If so, the information/data that described new information/data is received in wave filter in wave filter is in other words updated, and if not, currency keeps and the next input of wave filter check next input parameter next input signal in other words in other words.
Strapdown algorithm unit preferably at least provides the absolute value of physical parameter, in particular for take respectively acceleration, rotation rate, speed and position that three axis of vehicle axis system and/or world coordinate system are reference and the absolute value of the angle of orientation at this.Value about these parameters is particularly preferably all provided as calibrated value/parameter by strapdown algorithm unit at this.
Meet object, inertial sensor device carries out timing and/or triggering to fused filtering device, each fusion steps of especially being implemented by fused filtering device by inertial sensor device in other words at least one output signal export in other words data and trigger.
Preferably strapdown algorithm unit is constructed like this, makes described strapdown algorithm unit have the start vector of physical parameter and/or the initial value of position---especially about the startup of sensing system, after connecting particularly preferably in sensing system is each.Strapdown algorithm unit particularly preferably obtains described start vector and/or described reference position by fused filtering device by satellite navigation system.
Meet object, the data of fused filtering device, especially its fused data group are described virtual-sensor in other words corresponding to this virtual-sensor.
The sensor element that is preferably interpreted as wheel speed sensor element, described at least one steering angle sensor element, inertial sensor device for concept sensor element, is especially additionally also interpreted as satellite navigation system.
When generally speaking describing a parameter and/or value about three definite axis, preferably this is with regard to vehicle axis system and/or world coordinate system.
Meet object, comprise that the fused data group of the value of physical parameter comprises relative value, for example corrected value, is also referred to as offset and especially offers strapdown algorithm unit.According to example, the corrected value of described correspondence respectively by the error amount of accumulating in other words changing value obtain, the error amount of described accumulation in other words changing value is provided by fused filtering device.
In addition, the present invention relates to sensing system at vehicle, especially motor vehicle, particularly preferably in the application in automobile.
Accompanying drawing explanation
By dependent claims and the following explanation embodiment carried out by means of Fig. 1, obtain other preferred implementing form.
Embodiment
Fig. 1 shows the explanatory view of an embodiment of sensing system, and described sensing system is arranged for to be settled and is applied in vehicle.At this, as functional block, explain the most important signal processing unit of sensor element and satellite navigation system and signal processing apparatus and mutual acting in conjunction thereof.
Sensing system comprises inertial sensor device 1, be IMU, " inertial measurement unit ", described inertial sensor device is constructed like this, make described inertial sensor device at least can detect along determine first, second and the acceleration of the 3rd axis and at least can detecting around described definite first axle, around described the second definite axis with around the rotation rate of described the 3rd definite axis, wherein, definite first axle is corresponding to the longitudinal axis of vehicle, the second axis of determining is corresponding to the axis of pitch of vehicle, the 3rd axis of determining is corresponding to the vertical axis of vehicle.These three axis form cartesian coordinate system, i.e. vehicle axis system.
Sensing system has strapdown algorithm unit 2, in described strapdown algorithm unit, carries out strapdown algorithm, at least processes the sensor signal of inertial sensor device 1 to form calibrated navigation data and/or vehicle dynamics data with described strapdown algorithm.The described output data of strapdown algorithm unit 2 comprise the data of following physical parameter: each speed, acceleration and the rotation rate of vehicle---for example, about three axis of vehicle axis system and be additionally reference with world coordinates respectively according to example, described world coordinate system is applicable to be described in orientation and/or the kinetic parameters of vehicle on the earth.In addition, the output data of strapdown algorithm unit 2 comprise about the position of vehicle axis system with about the orientation of world coordinate system.Additionally, the output data of strapdown algorithm unit have variance, as some the information of data quality about in above-mentioned physical parameter, at least above-mentioned physical parameter.These variances are not to calculate in strapdown algorithm unit according to example, but only by described strapdown algorithm unit, are used and transmitted.
In addition, the data based example of the output of strapdown algorithm unit or the output data of whole sensing system in other words signal send in other words data 12.
In addition, sensing system comprises wheel speed sensor element 3 for each wheel of vehicle, according to example, it is four, described wheel speed sensor element detects respectively the vehicle wheel rotational speed of one of wheel of vehicle and additionally detects respectively rotation direction, sensing system additionally comprises steering angle sensor element 3, the steering angle of described steering angle sensor element testing vehicle.Wheel speed sensor element and steering angle sensor element are formed for the sensor device 3 that mileage detects.
In addition, sensing system has satellite navigation system 4, described satellite navigation system is constructed like this, described satellite navigation system is detected and/or provide respectively at affiliated satellite and the range data between vehicle or parameter related to this and respectively at affiliated satellite and the velocity information data between vehicle or parameter related to this.According to example, satellite navigation system 4 additionally provides reference position start position information in other words to fused filtering device, at least for starting or connection sensing system.
In addition, the signal processing apparatus of sensing system comprises fused filtering device 5.Fused filtering device 5 at the sensor signal of sensor element 3 at least and/or the signal of deriving thus, be to provide definite fused data group 6 in the common analyzing and processing process of the output signal of mileage and satellite navigation system 4 and/or the signal of deriving thus.Described fused data group has respectively about determining the data of physical parameter, wherein, fused data group 6 comprises the value of described physical parameter at least one physical parameter and about the information of its data quality, wherein, the described information about data quality be take variance as feature according to example.
Fused data group 6 comprises relative value as the value of described at least one physical parameter, and for example corrected value, is also referred to as offset.According to example, corrected value respectively by the error amount of accumulating in other words changing value obtain, the error amount of described accumulation in other words changing value is provided by fused filtering device 5.
Therefore the relative value of the corresponding physical parameter of fused data group 6 is corrected value and variance according to example.In other words, fused data group 6 is distributed according to the example error of calculation, and described error distribution is inputted in other words data group as input parameter and offered strapdown algorithm unit and considered at least in part in it calculates by described strapdown algorithm unit.Described error distribution is exported corrected value that data at least comprise physical parameter error amount and comprise respectively the variance about each value as the information about data quality in other words in other words as data group.At this, by fused filtering device at least by corrected value and about physical parameter respectively with vehicle coordinate be reference speed, acceleration and rotation rate, to be described parameter install about the variance of three components respectively of described coordinate system and the coordinate system of vehicle axis system and inertial sensor device 1 position that IMU between orientation is orientated the IMU angle of orientation in other words and be reference with world coordinates in other words passes to strapdown algorithm unit.
The value of the physical parameter of fused data group directly in other words indirectly the sensor signal based on sensor element 3 and satellite navigation system 4 calculate, wherein, at least some parameters, for example vehicle about the speed of vehicle coordinate and position with respect to the data redundancy of strapdown algorithm unit 2 be detected and analyzing and processing.
Fused filtering device 5 is configured to error state-space sequential extended Kalman filter device according to example, be configured to such Kalman filter, described Kalman filter especially comprises linearization and in described Kalman filter, calculates and/or estimate corrected value and described Kalman filter is worked and use/consider operational input data in sequential corresponding function step at this sequentially.
Fused filtering device 5 is constructed like this, make in the process of the functional steps of fused filtering device all the time asynchronously by sensor element 3, be wheel speed sensor element and steering angle sensor element up-to-date for the operational information of fused filtering device and/or signal and/or data indirectly by means of auto model unit 7 and satellite navigation system 4, directly or indirectly sequentially upgrade and/or receive fused filtering device in and in the calculating of the affiliated functional steps of fused filtering device 5, pay attention to.
Construct like this auto model unit 7, make described auto model unit by the sensor signal of wheel speed sensor element 3 and steering angle sensor element 3 at least calculate speed along definite first axle, along the speed of the second axis of determining and around the rotation rate of the 3rd axis of determining and offer fused filtering device 5.
Sensing system has four wheel speed sensor elements 3 according to example, wherein, one of wheel speed sensor element configures respectively any one wheel to vehicle, wherein, construct like this auto model unit 7, make described auto model unit by the sensor signal of wheel speed sensor element and the steering angle providing by steering angle sensor unit and/or each wheel especially by the steering angle sensor element for front-wheel and by means of at least one other for the steering angle sensor element of trailing wheel or the steering angle that at least detected by the model hypothesis for trailing wheel directly or indirectly calculate each wheel along/about speed component and/or the speed of the first and second axis of determining, wherein, by described eight speed components and/or four speed about the first and second axis of determining respectively, calculate the speed along definite first axle, along the speed of the second axis of determining and around the rotation rate of the 3rd axis of determining.
In addition, sensing system in other words its signal processing apparatus comprises tire parameter estimation unit 10, described tire parameter estimation unit is constructed like this, make described tire parameter estimation unit at least calculate the radius of each wheel, according to example computational dynamics radius and additionally calculate the lateral deviation rigidity of each wheel and the rigidity (Schlupfsteifigkeit) and offer auto model unit 7 as additional input parameter of trackslipping, wherein, tire parameter estimation unit 10 is constructed like this, make described tire parameter estimation unit calculate tire/wheel parameter with the tire model of substantial linear.Tire parameter estimation unit according to the input parameter of example this be vehicle wheel rotational speed 3 and steering angle 3, at least in part or be fully the output parameter of strapdown algorithm unit 2 be worth in other words, especially additionally about the variance being provided by it of the value of physical parameter and about the variance of the fused filtering device 5 of such physical parameter: described physical parameter is the input parameter of tire parameter estimation unit 10.
In addition, sensing system in other words its signal processing apparatus comprises GPS error identification and confirmation unit 11, described GPS error identification and confirmation unit are constructed like this, make described GPS error identification and confirmation unit according to example as the output data of input data acquisition satellite navigation system 4 output signal and the output data that obtain at least in part strapdown algorithm unit 2 output signal and paying attention in it calculates in other words in other words.
At this, GPS error identification be additionally connected with fused filtering device 5 with confirmation unit 11 and with described fused filtering device swap data.
GPS error identification and confirmation unit 11 are for example constructed like this, make described GPS error identification and confirmation unit carry out following method:
For selecting the method for satellite, comprising:
-based on GNSS signal, be received global navigation satellite system signal, be that the output signal of satellite navigation system 4 is exported DATA REASONING vehicle in other words with respect to the measuring position data of satellite,
-determine the reference location data for redundancy for the definite measuring position data of GNSS signal of vehicle,
-when the contrast of measuring position data and reference location data meets pre-definite condition, select this satellite,
-wherein, for measurement of comparison position data and reference location data and form poor between measuring position data and reference location data,
-wherein, pre-definite condition is the limits of error between measuring position data and reference location data,
-wherein, the limits of error are relevant to standard deviation, the reference variance of described standard deviation based on for reference location data with for the measurement variance of measuring position data and calculate,
-wherein, the limits of error are like this corresponding to many times of standard deviation, make measuring position data enter into probability between the difference section relevant to standard deviation lower than pre-definite threshold value.
In addition, sensing system in other words its signal processing apparatus has parking recognition unit 8, described parking recognition unit is constructed like this, make described parking recognition unit can identify the parking of vehicle and in the situation that recognizing vehicle parking, at least to fused filtering device 5, provide the information of self-stopping n model, in this especially such information: there is value zero and at least one change in location parameter also has value zero around the rotation rate of whole three axis, especially there is value along the speed of whole three axis zero.Parking recognition unit 8 is constructed according to example like this at this, makes described parking recognition unit use vehicle wheel rotational speed " original " direct output signal in other words of vehicle wheel rotational speed signal and inertial sensor device 1 in other words as input data.
Signal processing apparatus according to example, calculate and/or use its value relate to vehicle axis system physical parameter first group of data and additionally calculate and/or use its value to relate to second group of data of the physical parameter of world coordinate system, wherein, described world coordinate system is especially at least applicable to be described in orientation and/or the kinetic parameters of vehicle on the earth, wherein, sensing system has orientation model unit 9, with described orientation model unit, calculates the angle of orientation between vehicle axis system and world coordinate system.
The angle of orientation between vehicle axis system and world coordinate system is at least calculated based on following parameter in orientation model unit 9: about the speed of vehicle axis system, about speed and the steering angle of world coordinate system.
The angle of orientation between vehicle axis system and world coordinate system is additionally at least calculated based on one or more of following parameter in orientation model unit 9 according to example: vehicle is the orientation information of reference with world coordinates, the corrected value of fused filtering device and/or some or all and/or vehicle in variance are the acceleration of reference with vehicle axis system and/or world coordinates.
The output data of orientation model unit 9 use strapdown algorithm units 2 and/or some or all in output signal are calculated.
Construct like this according to example orientation model unit 9, make described orientation model unit except the angle of orientation, also calculate and provide the variance about the information of the data quality of this parameter, the especially angle of orientation, wherein, orientation model unit 9 offers fused filtering device 5 by the angle of orientation between vehicle axis system and world coordinate system and about the information of the data quality of this parameter, and fused filtering device uses the described angle of orientation and particularly preferably sends the variance of the information of the data quality about this parameter, the especially angle of orientation to strapdown algorithm unit 2 in it calculates.
Claims (12)
1. a sensing system, described sensing system comprises a plurality of sensor elements (1, 3, 4) and signal processing apparatus, wherein, described signal processing apparatus is constructed like this, make the described signal processing apparatus sensor signal of sensor element described in common analyzing and processing at least in part, it is characterized in that: described signal processing apparatus is constructed like this, make to dispose respectively temporal information to the measurement data of physical parameter, described temporal information directly or indirectly comprises the information about the moment of corresponding measurement, wherein, described signal processing apparatus is at least considered described temporal information in fused filtering device (5) when producing fused data group.
2. sensing system according to claim 1, it is characterized in that: described fused filtering device is constructed like this, before and after making, one after the other carry out the functional steps that disposes respectively temporal information, wherein, in functional steps, process respectively about the data/value of physical parameter and determining fused data group is provided constantly, each physical parameter that described fused data group is processed and/or calculated about described fused filtering device provides respectively the relative value of described physical parameter and about the information of data quality.
3. sensing system according to claim 1 and 2, it is characterized in that: described fused filtering device at least has absolute value and/or the intrinsic value of this physical parameter in inside for one of described physical parameter, wherein, for one or more physical parameters, what a definite time period the absolute value of the functional steps in past and/or intrinsic value are stored and prepare.
4. sensing system according to claim 3, it is characterized in that: according to the temporal information of the input value of the physical parameter of described fused filtering device, in described fused filtering device, described input value is calculated, to be described input value compare and/or calculate with absolute value and/or the intrinsic value of such physical parameter its mode: the temporal information of this physical parameter, be that the temporal information of described absolute value and/or described intrinsic value is substantially consistent with the temporal information of described input value.
5. the sensing system one of at least described according to claim 1 to 4, is characterized in that: such physical parameter---described input value compares and/or calculates with this physical parameter---absolute value and/or intrinsic value by two about temporal information nearest---absolute value and/or intrinsic value of especially thering is absolute value and/or the intrinsic value of the temporal information slightly newer than the temporal information of the input value of corresponding configuration and thering is the temporal information slightly older than the temporal information of the input value of the described corresponding configuration---interpolation of storing and ready absolute value and/or intrinsic value in time.
6. the sensing system one of at least described according to claim 1 to 5, it is characterized in that: the input value of described fused filtering device disposes respectively temporal information, thus, the described input value of physical parameter has respectively time rank, wherein, in waiting scope of pending functional steps, the input value of the physical parameter of described fused filtering device is calculated with the intrinsic value of the fused filtering device of such physical parameter: described physical parameter in time rank and/or about temporal information substantially corresponding to corresponding temporal information and/or the time rank of corresponding input parameter.
7. the sensing system one of at least described according to claim 1 to 6, it is characterized in that: described signal processing apparatus is constructed like this, the time rank that makes the pending functional steps such as current is determined by having the temporal information of input value of the physical parameter of up-to-date temporal information, wherein, the input value of the older physical parameter of temporal information is extrapolated to the time rank of described up-to-date temporal information and then calculates with the intrinsic value of described fused filtering device.
8. the sensing system one of at least described according to claim 1 to 7, it is characterized in that: described signal processing apparatus is constructed like this,---within this time period, data/information/value is stored and is ready to---determined by the maximum-delay of the input data of described fused filtering device to make definite time period, described maximum-delay is determined with respect to the maximum difference of the temporal information of current etc. the pending functional steps of described fused filtering device by the temporal information of the measurement of physical parameter, wherein, described maximum-delay is especially determined to such an extent that be more than or equal to the delay of largest anticipated of the measurement of satellite navigation system, described satellite navigation system is a part for described sensing system.
9. the sensing system one of at least described according to claim 1 to 8, it is characterized in that: described signal processing apparatus is constructed like this, make definite time period that---data/information/value is stored and is ready within this time period---is by determining for some or each different definite time period of physical parameter feature.
10. the sensing system one of at least described according to claim 1 to 9, it is characterized in that: described sensing system comprises satellite navigation system, described satellite navigation system provides synchronizing pulse and/or synchronous method, and the temporal information of described fused filtering device is synchronizeed with the temporal information of described satellite navigation system by described synchronizing pulse and/or synchronous method.
11. sensing systems according to claim 10, it is characterized in that: described satellite navigation system provides respectively at affiliated satellite and the range data between vehicle or parameter related to this and respectively at affiliated satellite and the velocity information data between vehicle or parameter related to this, described range data or parameter related to this and velocity information data or parameter related to this are transferred to fused filtering device as input value, wherein, the described input value of the physical parameter of described satellite navigation system and the intrinsic value of described fused filtering device through time adjustment calculate, its mode is, if the temporal information of the input value of described physical parameter is older than the temporal information of current etc. the pending functional steps of described fused filtering device, according to the extrapolate intrinsic value of described physical parameter of the temporal information of described input value, wherein, in order to extrapolate, especially use the gradient of latter two value of such physical parameter, if these two values are based on two measurements in succession each other, between described measurement, there is not the measurement of same measurement parameter.
12. sensing systems one of at least described according to claim 1 to 11, it is characterized in that: described fused filtering device is constructed like this, make described fused filtering device consider at least one model hypothesis, described model hypothesis starting point is, between one or more functional steps of described fused filtering device, offset and/or changing value and/or corrected value and/or error amount maybe can be ignored and change within definite time period only restrictedly, especially store absolute value and/or the intrinsic value of physical parameter for described definite time period.
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| CN103930312A (en) | 2014-07-16 |
| EP2755869B1 (en) | 2017-07-12 |
| CN103930797B (en) | 2016-07-06 |
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| WO2013037850A1 (en) | 2013-03-21 |
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| CN103930311A (en) | 2014-07-16 |
| US20140320310A1 (en) | 2014-10-30 |
| DE102012216218A1 (en) | 2013-03-14 |
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| EP2755867A1 (en) | 2014-07-23 |
| EP2755867B1 (en) | 2017-11-15 |
| EP2755868A1 (en) | 2014-07-23 |
| EP2756331B1 (en) | 2023-04-05 |
| US20150142390A1 (en) | 2015-05-21 |
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| CN103930312B (en) | 2016-10-12 |
| EP2755869A1 (en) | 2014-07-23 |
| US10628707B2 (en) | 2020-04-21 |
| EP2755868B1 (en) | 2017-01-04 |
| WO2013037855A1 (en) | 2013-03-21 |
| US10360476B2 (en) | 2019-07-23 |
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